The 3D Shape Analysis Library (http://www.aqsense.com/products/sal3d) is the first hardware independent software architecture for range map and poing cloud processing, fully oriented to laser triangulation and 3D machine vision applications. SAL3D means speed, accuracy, and reliability to machine builders, equipment manufacturers, system integrators, and volume end users demanding maximum flexibility and customization in their vision systems. Tools can be integrated as DLL's that allow developers access to third party components usable side by side with SAL's tools resulting in rapid development of highly complex processing tasks.

1. Dedicated Software
Algorithms for 3D Clouds of
Points

2. Introduction
AQSENSE develops and commercializes 3D image acquisition and processing
technologies that allow high speed in-line 100% production inspection, for the
Machine Vision Industry.

3. Were are we ?
Parc Científic i Tecnològic de la UdG - 17003 Girona (Catalonia - Spain)

4. Presentation Outline
Part I: SAL3D PCM
✔ The ZMap as a “FLAT” representation of a COP
Part II: SAL3D Tools Overview
✔ Accurate Light Stripe Detection
✔ Easy and Fast Profiles Merging
✔ Metric Calibration for Linear and Angular Scanning
✔ Measuring Geometric Primitives
✔ Ultra-Fast Alignment for Pose Determination and Dimensional Control
✔ Importing Models from CAD Designs
✔ Integrating Multiple 3D Views into a Single Mesh
✔ Easy Visualization of Rangemaps, COPs and ZMaps
Part III: Applications Examples
✔ Measuring the Diameter of a Tilted Circle
✔ Dimensional Inspection

5. PART I
SAL3D Point Cloud
Manager (PCM)

6. Point Cloud Manager (PCM)
Tool for management for 3D data: COPs and ZMaps
COP: Organized container for 3D data coming from different
sources:
● Laser triangulation
● Time-of-flight
● Structured Light
● Stereo vision

7. PCM: Zmap, the flat representation of the COP data
Orthogonal projection
onto the Z plane
A COP is an organized set of 3D
A COP is an organized set of 3D A ZMap is the projection of a COP
A ZMap is the projection of a COP
points, expressed in X, Y and Z
points, expressed in X, Y and Z onto the Z=0 plane.
onto the Z=0 plane.
coordinates.
coordinates. Its
Its horizontal
horizontal and
and vertical
vertical
It's like a set of 3 “images” of
It's like a set of 3 “images” of coordinates are proportional to the
coordinates are proportional to the
floating
floating point
point numbers,
numbers, actual X and Y coordinates of the
actual X and Y coordinates of the
representing the X, Y and Z sets of
representing the X, Y and Z sets of COP, while its contents are the Z
COP, while its contents are the Z
coordinates
coordinates coordinate values.
coordinate values.

8. The ZMap as a “FLAT” representation of a COP
Rangemap ZMap
Rangemap vs. ZMap
Preserves metric properties NO YES
Independent of acquisition source NO YES
Can be used by 2D tools SOMETIMES ALWAYS
Can be used to locate 3D features using
2D tools, in 3D space INDIRECTLY YES
Removes perspective distortion NO YES

9. PCM: Zmap, the flat representation of the COP data
Zmap data allows 3D measurements using common 2D tools
SAL3D contains examples to
how to export 3D data to
standard
2D libraries ( Halcon, MIL and
OpenCV).
Zmap factors allow the
conversion from pixel data to
metric data:
● Length
● Diameter
● Area and volume of defects
● etc.

10. PART II
SAL3D Tools Overview

11. SAL3D Tools Overview

12. SAL3D Tools Overview

13. Accurate Light Stripe Detection
Grey level representation
Determination
of the maximum
value position
up to 1/64th of
a pixel
A single point is obtained for each
line across the laser stripe.
This point is obtained at subpixel
accuracy at a maximum of 1/64
pixel.
Lab tests revealed 5 microns in Z,
with a FOV of 130mm.

14. Range Map as the accumulation of laser profiles

15. Accurate Light Stripe Detection
COG & Peak
Ideal Case
The maximum intensity is in Intensity profile of the stripe image
the middle of the stripe image.
Peak
COG
Real Case
The maximum intensity is NOT Intensity profile of the stripe image
in the middle of the stripe image.

16. Accurate Light Stripe Detection
Peak
COG
Peak
PeakCOG
COG
● Presence of noise
● Nature of surface material
● Coatings
Peak
COG
The maximum intensity is NOT Intensity profile of the stripe image
in the middle of the stripe image.

17. Accurate Light Stripe Detection
Light stripe
detection
8x to 10x better
detection accuracy.
(3 orthogonal
distance
COG
measurements of a
plane reconstructed
object)
Better detection
allows smaller details
to be visible.
Peak Detector

18. SAL3D Tools Overview

19. MERGER Tool: Easy and Fast Profiles Merging
A B
ADD MORE
This area is not
visible by camera A CAMERAS

20. SAL3D Tools Overview

21. Metric Calibration for Linear and Angular scanning
Linear Scanning Angular Scanning
RANGEMAP CLOUD OF POINTS (COP)

22. Metric Calibration for Linear and Angular scanning
Multi-camera system
for large objects
@ high resolution
Single camera system Special Multi-camera
for large objects system for 360º view
@ low resolution scanning

23. Metric Calibration for Linear and Angular scanning
SCANNING A TILTED
CYLINDER
DIRECT
3D
REPRESENTATION
RANGEMAP
RANGEMAP
3D
REPRESENTATION
AFTER METRIC A rangemap can create an
CALIBRATION
A rangemap can create an
“illusion” of 3D. Not only metric
“illusion” of 3D. Not only metric
coordinates are missing, but
coordinates are missing, but
perspective distortion makes
perspective distortion makes
the shape completely different
the shape completely different
from what it really is.
from what it really is.

24. Metric Calibration for Linear and Angular scanning
The robot scans the part using
one of its angular articulations.
Using the accurate positioning
of the robot, multiple scans can
be overlapped and integrated
with SAL3D Integrator Tool

25. Geometric Tool
The tool to allow you to made 2D measurements on planes not parallel to the
3D sensor.
Zmap from the acquired COP
Zmap after plane fitting and
correction on the acquired COP

26. Geometric Tool
This tool also allows planarity measurements and sphere fitting.

27. Ultra-Fast Alignment for Pose Determination
and Dimensional Control of all Parts Produced
Parts Pose Determination for picking operations
Dimensional correctness inspection Quantification of
tolerances in 3D, for
complex, a-priory unknown
Surface inspection scanned surfaces

28. SAL3D Tools Overview

29. Ultra-Fast Alignment for Pose Determination
and Dimensional Control of all Parts Produced
{M}
M
TP
{P}
A Part's Model and its Pose
Match3D determines a part's pose, relative to a
Match3D determines a part's pose, relative to a
known model of it, in a small fraction of a
known model of it, in a small fraction of a
second.
second.
Both Model and Part Cloud Of Points (COPs)
Both Model and Part Cloud Of Points (COPs)
consisting of 1 or more million points.
consisting of 1 or more million points.
Versions: Match3D and Match3D with Coarse.
Versions: Match3D and Match3D with Coarse.
The Scanned Part and its Pose

30. Ultra-Fast Alignment for Pose Determination
and Dimensional Control of all Parts Produced
DISPARITY MAP
SAL3D can compute the difference
between two Clouds Of Points,
generating a disparity map.
It's a floating point value image which
directly conveys 3D metric localized
information on the difference between
model and part.
Cross-section of a shape deviation
DISPARITY MAP
Differences (or distances) in mm between the model and the scanned surface

31. SAL3D Tools Overview

32. Importing Models from CAD Designs
CAD Designs in IGES or STL formats can be imported to SAL3D
CAD Designs in IGES or STL formats can be imported to SAL3D
COPs for being used in Match3D Applications
COPs for being used in Match3D Applications

33. SAL3D Tools Overview

34. Integrating Multiple 3D Views into a Single Mesh
Single mesh after integration
Multiple views aligned and overlapped
A Mesh can be stored as a .PLY or
.STL file with a simple function call.
Reverse Engineering, Rapid Prototyping,
Archeology, etc...

35. SAL3D Tools Overview

36. Area Computation Tool
Applications
● Volume measure
● Density checking: With the help of the
Area with respects to a reference line Area Tool the volume of an object is
obtained. Then, knowing its weight, the
density can be easily calculated
● Slicing: When automatically slicing food
to be packed, neither extra material is
desired nor can fewer product be given
to the user. Computing the piece volume
allows a precise cut with the exact
weight.
Area of a closed
profile

37. Easy Visualization of Rangemaps, COPs and ZMaps
SAL3D allows the instantiation of viewer windows with their corresponding controls

38. PART III
Application Examples

39. Example #1: Measuring the Diameter of a Tilted Circle
Strategy:
1. Obtain a model of the part
2. Align all parts, one after one, with the obtained model
3. Align all parts to the Z=0 plane, using
4. Generate a ZMap and feed into a 2D circle measurement tool
5. Compute the hole diameter (in pixels)
6. Convert the diameter in pixels into millimeters using the ZMap factors

40. Example #1: Measuring the Diameter of a Tilted Circle
MODEL PLANE Z=0
Getting a model of the part
Align the Model with plane Z=0 (ROBUST PLANE or arbitrary)

41. Example #1: Measuring the Diameter of a Tilted Circle
BEFORE ALIGNMENT AFTER ALIGNMENT
Align the part with the model using Match3D
Align the part with the model using Match3D
Align the part with the Z=0 to generate a ZMap
Align the part with the Z=0 to generate a ZMap
3D Transformations can be easily combined for efficiency

42. Example #1: Measuring the Diameter of a Tilted Circle
Generate a ZMap for each part after
alignment with the Z=0 plane.

43. Example #1: Measuring the Diameter of a Tilted Circle
The Circle Diameter can be computed in pixels and converted to mm (ZMap factors)

44. Example #2: Dimensional Inspection
DISPARITY MAP
DISPARITY MAP
PSEUDO-COLOR REPRESENTATION GRAY-LEVEL REPRESENTATION

45. Example #2: Dimensional Inspection
Disparity Map

46. Example #2: Dimensional Inspection
Disparity Map
Binarization

47. Example #2: Dimensional Inspection
Disparity Map
Binarization
Blob segmentation by size

48. Example #2: Dimensional Inspection
Disparity Map mmPerGrayLevel = 0.024
Binarization
Blob segmentation by size
mm
Gray Level

49. SUMMARY
SAL3D as a C++ Standard Library or integrated in CVB.
SAL3D technology is proven and present in different industries
such as Food, Dental, Metal, ...
SAL3D technologies cover a very wide range of 3D MV applications.
Ease of Use, Robustness, Accuracy and Speed are the four
pillars of AQSENSE's Technologies, embedded in SAL3D.
SAL3D can be easily combined with Standard 2D Machine Vision
Libraries to enable a huge number of applications.